US 12,215,001 B2
Guide display device and crane equipped with same
Iwao Ishikawa, Kagawa (JP); Takayuki Kosaka, Kagawa (JP); Keita Mashima, Kagawa (JP); Satoshi Kubota, Osaka (JP); Shigenori Tanaka, Osaka (JP); Masaya Nakahara, Osaka (JP); and Koki Nakahata, Osaka (JP)
Assigned to TADANO LTD., Kagawa (JP); and THE SCHOOL CORPORATION KANSAI UNIVERSITY, Osaka (JP)
Appl. No. 17/911,049
Filed by TADANO LTD., Kagawa (JP); and THE SCHOOL CORPORATION KANSAI UNIVERSITY, Osaka (JP)
PCT Filed Mar. 23, 2021, PCT No. PCT/JP2021/012004
§ 371(c)(1), (2) Date Sep. 12, 2022,
PCT Pub. No. WO2021/193639, PCT Pub. Date Sep. 30, 2021.
Claims priority of application No. 2020-056811 (JP), filed on Mar. 26, 2020.
Prior Publication US 2023/0106308 A1, Apr. 6, 2023
Int. Cl. G06T 15/00 (2011.01); B66C 13/46 (2006.01); G01S 17/89 (2020.01)
CPC B66C 13/46 (2013.01) [G01S 17/89 (2013.01)] 5 Claims
OG exemplary drawing
 
1. A guide display device of a crane, comprising:
a data processing section configured to calculate a representative point for each grid cell by using point group data acquired with a laser scanner by scanning a lifting cargo, a ground surface and a ground object from above the lifting cargo and create a three-dimensional map based on the representative point,
wherein the data processing section creates the three-dimensional map for each frame that is generated successively based on the point cloud data acquired at each time,
wherein the data processing section labels each grid cell of the three-dimensional map with either the lifting cargo, the ground surface, or the ground object based on a height of the representative point of each grid cell,
wherein the data processing section acquires an altitude value of each grid cell as a first altitude value for the three-dimensional map created at a time closest to a current time,
wherein the data processing section acquires an altitude value of each grid cell for a predetermined number of other three-dimensional maps excluding the three-dimensional map created at the time closest to the current time, and calculates an average of the altitude value as a second altitude value,
wherein the data processing section calculates a difference between the first altitude value and the second altitude value for each corresponding grid of the three-dimensional map, and determines that the ground object is a moving object when the difference exceeds a predetermined threshold value, and
wherein the data processing section associates the three-dimensional map with an image captured by a camera from above the lifting cargo and creates a guide frame diagram for the ground object identified on the three-dimensional map, and displays the guide frame diagram by superimposing it on the image, the guide frame diagram being set so that it is possible for an operator to distinguish whether the ground object is the moving object or not.